/**
  * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved.
  * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
  * following conditions are met:
  * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
  * disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
  * following disclaimer in the documentation and/or other materials provided with the distribution.
  * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote
  * products derived from this software without specific prior written permission.
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
  * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  * @file      mcs_config_motor.h
  * @author    MCU Algorithm Team
  * @brief     This file provides the electromechanical parameters of the tested motor.
  */

#ifndef McuMagicTag_MCS_CONFIG_MOTOR_H
#define McuMagicTag_MCS_CONFIG_MOTOR_H

#include "mcs_mtr_param.h"

/* Typedef definitions ------------------------------------------------------------------------- */
typedef struct {
    /* electromechanical parameters */
    unsigned int mtrNp;      /**< numbers of pole pairs */
    float        mtrRs;      /**< resistor of stator */
    float        mtrLd;      /**< inductance of D-axis */
    float        mtrLq;      /**< inductance of Q-axis */
    float        mtrPsif;    /**< permanent magnet flux */
    float        mtrJ;       /**< rotor inertia */
    float        maxElecSpd; /**< max elec speed */
    float        maxCurr;    /**< max current */
    /* Encoder parameters */
    unsigned int mtrPPMR;    /**< pulse per mechanical round */
    unsigned int zShift;     /**< pulse Z shift */
} MotorConfig;

typedef struct {
    float currPiKp;      /**< current loop kp */
    float currPiKi;      /**< current loop ki */
    float currPiLimitPu; /**< current loop limit per unit value */
    float spdPiKp;       /**< speed loop kp  */
    float spdPiKi;       /**< speed loop ki */
    float spdPiLimit;    /**< speed loop limit */
} PiCtrlParam;

void MtrParamInit(MtrParamHandle *handle, const MotorConfig *motorTable);

#endif
